Sonar mapping of a mobile robot considering position uncertainty
SCIE
SCOPUS
- Title
- Sonar mapping of a mobile robot considering position uncertainty
- Authors
- Min, BK; Cho, DW; Lee, SJ; Park, YP
- Date Issued
- 1997-03
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Abstract
- This paper suggests a new sonar mapping method considering the position uncertainty of a mobile robot, Sonar mapping is used for recognizing the unknown environment for a mobile robot during navigation, Usually accumulated position error of a mobile robot causes considerable deterioration of the quality of a constructed map, In this paper, therefore, a new Bayesian probability map construction method is proposed, which considers estimation of the position error of a mobile robot. In this method, we applied approximation transformation theory to estimate the position uncertainty of a real mobile robot, and introduced cell ordering uncertainty caused by the position uncertainty of a robot in cell-based map updating, Through simulation we showed the effect of a robot's position uncertainty on the quality of a reconstructed map, Also, the developed methods were implemented on a real mobile robot, AMROYS-II, which was built in our laboratory and shown to be useful enough in a real environment. (C) 1997 Elsevier Science Ltd.
- Keywords
- OBSTACLE AVOIDANCE; NAVIGATION
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/21319
- DOI
- 10.1016/S0736-5845(96)00017-8
- ISSN
- 0736-5845
- Article Type
- Article
- Citation
- ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, vol. 13, no. 1, page. 41 - 49, 1997-03
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- There are no files associated with this item.
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